The following article will answer your question:
EWTN: Prayer of the Faithful; Kiss of Peace By Father Edward McNamara, LC
I quote in part here the actual article has the GIRM and more detail:
Q: Is it permissible to omit the Prayer of the Faithful at a daily Mass or funeral? It is permissible to have the kiss of peace just before the offertory? — J.R., San Antonio, Texas
A: In reintroducing the Universal Prayer to the liturgy in 1963 the Second Vatican Council stated the following inSacrosanctum Concilium, No. 53:
“Especially on Sundays and feasts of obligation there is to be restored, after the Gospel and the homily, ‘the common prayer’ or ‘the prayer of the faithful.’ By this prayer, in which the people are to take part, intercession will be made for holy Church, for the civil authorities, for those oppressed by various needs, for all mankind, and for the salvation of the entire world."
Two years later, in 1965, the Holy See was asked this question: “Whether in Masses celebrated with the people, the prayer of the faithful is obligatory on ferial days?”
The response in the Vatican’s typical laconic style was: “It does not oblige on ferial days.” It later confirmed and amplified its response in other documents, with specific reference to Sacrosanctum Concilium.
Therefore, although the Prayer of the Faithful may be profitably used on a daily basis, it is obligatory only on Sundays and holy days of obligation.
It is noteworthy, however, that the most recent documents do not make this distinction between festivities and ferial days but simply describe the structure of the prayer. This allows for their use on all suitable occasions without mandating an obligation.